Smart radiation sensor management

Cortez, RA; Papageorgiou, X; Tanner, HG; Klimenko, AV; Borozdin, KN; Lumia, R; Priedhorsky, WC

dc.contributor.author	Cortez, RA	en
dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Tanner, HG	en
dc.contributor.author	Klimenko, AV	en
dc.contributor.author	Borozdin, KN	en
dc.contributor.author	Lumia, R	en
dc.contributor.author	Priedhorsky, WC	en
dc.date.accessioned	2014-03-01T01:29:12Z
dc.date.available	2014-03-01T01:29:12Z
dc.date.issued	2008	en
dc.identifier.issn	10709932	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/19155
dc.subject	Automation	en
dc.subject	Bayesian methods	en
dc.subject	Mobile robots	en
dc.subject	Nuclear search	en
dc.subject	Radiation mapping	en
dc.subject	Robot sensing systems	en
dc.subject	Robots	en
dc.subject	Temperature measurement	en
dc.subject	Uncertainty	en
dc.subject.other	Bayesian networks	en
dc.subject.other	Radiation	en
dc.subject.other	Radiation shielding	en
dc.subject.other	Robotics	en
dc.subject.other	Robots	en
dc.subject.other	Sensors	en
dc.subject.other	Three dimensional	en
dc.subject.other	Automation	en
dc.subject.other	Bayesian	en
dc.subject.other	Bayesian methods	en
dc.subject.other	Bayesian statistics	en
dc.subject.other	Confidence level	en
dc.subject.other	Future research directions	en
dc.subject.other	Mapping algorithms	en
dc.subject.other	Mapping strategies	en
dc.subject.other	Mobile robots	en
dc.subject.other	Model-driven	en
dc.subject.other	Nuclear search	en
dc.subject.other	Prior information	en
dc.subject.other	Prior knowledge	en
dc.subject.other	Radiation mapping	en
dc.subject.other	Radiation sensors	en
dc.subject.other	Real time	en
dc.subject.other	Robot sensing systems	en
dc.subject.other	Robotic implementation	en
dc.subject.other	Search area	en
dc.subject.other	Temperature measurement	en
dc.subject.other	Three-dimensional mapping	en
dc.subject.other	Time efficiencies	en
dc.subject.other	Two dimensions	en
dc.subject.other	Uncertainty	en
dc.subject.other	World modeling	en
dc.subject.other	Conformal mapping	en
dc.title	Smart radiation sensor management	en
heal.type	journalArticle	en
heal.identifier.primary	10.1109/MRA.2008.928590	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MRA.2008.928590	en
heal.publicationDate	2008	en
heal.abstract	We developed two radiation mapping algorithms that can handle different situations based on prior information of the search area. The algorithms were developed in the framework of model-driven measurement, where a world model was used to drive measurement collection, and measurements were used to update the world model.We developed and experimentally tested a robotic implementation of two Bayesian-based radiation mapping strategies in two dimensions, using a commercially available desktop mobile robot fitted with a CsI radiation sensor. Our approach for implementing the Bayesian radiation mapping algorithms was to drive the robot over each segment of the search area, in real time, according to the radiation counts collected by the sensor. Future research directions include extensions to three-dimensional mapping; exploring and characterizing the tradeoffs between time efficiency, map confidence level, and utilization of prior knowledge information; as well as the implementation of Bayesian statistics for the online update of the world model. © 2008.	en
heal.journalName	IEEE Robotics and Automation Magazine	en
dc.identifier.doi	10.1109/MRA.2008.928590	en
dc.identifier.volume	15	en
dc.identifier.issue	3	en
dc.identifier.spage	85	en
dc.identifier.epage	93	en